RUBENS - CNC - sterowanie · PDF fileRUBENS 1.00 Refers to software version:: ... • Serial port ... PC-PC serial cable and configure the port as indicated in the section “Serial

RRUUBBEENNSSSTD 1

USER’S MANUAL

MANUAL VERSION : 1.03RUBENS 1.00Refers to software version::CNC / PLC: 3.00 / 3.00

MANUAL CODE: MA RUB U STD1 13DATE: 20 LUGLIO 2000

RUBENS- USER’S MANUAL

2

This documentation has been produced by S&h for the exclusive use of purchasers of theRubens manufactured by the same S&h.Its contents are the property of S&h and may not be reproduced in whole or in part withoutthe written consent of S&h.The information contained in the present documentation is subject to change without priornotice and does not constitute a commitment on the part of S&h.

© Copyright 1998 S&h. All rights reserved

J:\Int\Manuali\P2000\Eng\RUBENS_E.Doc


3

IndexGENERAL ......................................................................................................................... 5

INTRODUCTION...................................................................................................................................5

VERSION............................................................................................................................................5

FIRMWARE GENERAL STRUCTURE......................................................................................................6

OPERATION MODE..............................................................................................................................7

COMMUNICATION ...............................................................................................................................8

CUSTOMISING THE SYSTEM................................................................................................................8

INSTALLATION AND CONNECTIONS....................................................................................... 9UNPACKING .......................................................................................................................................9

CHECKING THE BOARD.......................................................................................................................9

PRELIMINARY CONFIGURATION........................................................................................................10CONFIGURATION OF THE PC...................................................................................... 10COMMUNICATION SOFTWARE .................................................................................... 10

BACH SOFTWARE INSTALLATION AND CONFIGURATION............................................................................................ 10

CONNECTION EXAMPLE....................................................................................................................11

TECHNICAL DATA ............................................................................................................ 13DIMENSIONS ....................................................................................................................................13

RUBENS PANEL................................................................................................................................14

CONNECTORS ON THE RUBENS PANEL ...........................................................................................15

TERMINALS ON THE RUBENS PANEL ................................................................................................17

SERIAL PORT CONNECTIONS ...........................................................................................................18CONNECTOR: X8, X19 ............................................................................................ 18

ENCODER CONNECTIONS.................................................................................................................19CONNECTOR: X4, X7, X10, X13 .............................................................................. 19ENCODER SUPPLY.................................................................................................... 20

DRIVE CONNECTIONS (ANALOGUE)..................................................................................................21CONNECTORS: X3, X6, X9, X12 .............................................................................. 21

DRIVER CONNECTIONS (FREQUENCY)...............................................................................................22CONNECTORS: X3, X6, X9, X12................................................................................ 22

DIGITAL INPUT CONNECTIONS..........................................................................................................23TERMINALS: X18, X17, X16, X14 ............................................................................ 23RUBENS IMAGE OF INPUTS 31….0 ........................................................................... 24

DIGITAL OUTPUT CONNECTIONS ......................................................................................................25TERMINALS: X15 .................................................................................................... 25RUBENS IMAGE OF THE OUTPUTS 31….0.................................................................. 26

ANALOGUE INPUT CONNECTIONS.....................................................................................................27CONNECTOR: X5 .................................................................................................... 27

ANALOGUE OUTPUT CONNECTIONS .................................................................................................28CONNECTOR: X11 .................................................................................................. 28

CONNECTION OF THE PROXIMITY SWITCH .........................................................................................29

CAN-BUS CONNECTION .............................................................................................................30INSTALLATION RECOMMENDATIONS ............................................................................ 30


4


5

GENERAL

INTRODUCTIONThe present manual contains all information regarding the technical characteristics and theperformance of the CNC on the Rubens board. It is designed as a useful guide which canbe referred to for a quick understanding and for efficient application of all its functions.

The Rubens CNC is a NUMERICAL CONTROLLER packaged in a metal case forrear-of-panel mounting. It is designed to control up to 4 axes that can be STEPPER, DC orBRUSHLESS motors both in point to point positioning and in linear or circular interpolation.It can handle the machine I/O (16 inputs and 8 outputs) both in sequential mode and as aPLC program (optional). The I/O can be expanded up to 128 inputs and 128 outputs viaCan-Bus.

Main features:• Power supplies: +24Vdc• Maintains data and programs even in the event of a power out.• 1…4 axes STEPPER, DC OR BRUSHLESS

• PID control algorithm and programmable feedforward action.• Point to point positioning, linear interpolation, circular interpolation• Programmable velocity profiles• Encoder feedback, even for stepper motors• 16 in and 8 out that can be handled sequentially or in PLC logic (optional),

expandable to 128+128 using industrial Can-Bus.• Programming language: ISO (extended) for the axes control section, AWL (in the

PC) for the PLC section.• Fast input for acquisition of the axes co-ordinates (touch probe)• Auxiliary analogue inputs (max. 8)• Handling the program “Variables”• Serial port (definable as RS232/422/485) for connecting the machine control

panel “MCP”.• 4 incremental encoders• Parallel process control• Interface for DC or BRUSHLESS motor drives: REF (±10V / 16bit), DIR, ENABLE,

FAULT

• Interface for STEPPER motor drives: PULSE(800KHZ), DIR, ENABLE, FAULT

VERSIONThe information in this manual refers to the “Rubens Software Version “ shown on thecover.The message showing the software version installed in the Rubens can be read using the%99 instruction.


6

FIRMWARE GENERAL STRUCTUREThe Rubens has an operating system inside that performs the control of several processesin parallel; in particular the following tasks are executed:

RTOS Operating System(*)

(1)

CNC(2)

PLC(3)

PROCESSES

BACH

RUBENS

AUXILIARY

(*): Real Time Operating System

CNC This is the task for the control of theaxes

PLC This task handles the machine I/O (asPLC section)

AUXILIAR Y PROCESSES Performs the service tasks:communication, error handling, timing,alarms, watchdog, etc.


7

OPERATION MODE

The operation mode of the Rubens controller can be illustrated by the following drawing, inwhich the components, that are described later, are divided into groups by function.

♦ Power supply unit: the group of components that make up the electronics that are usedto supply the correct power to the control unit (and other parts of the system). Usuallymade up of a transformer and the associated protection and manoeuvring devices thatmust be provided by the user.

♦ Controller: electronics of the mechanical displacement system that takes care of,together with other parts of the system, the movement along the axes, theelectromechanical actuators and any sensors present on the machine.

♦ Drive Unit: the electronics of a mechanical displacement system that receives andtransmits analogue and digital signals from the external controller and drives the motorin such a way that it performs the movements required by the controller

♦ Motor: is the component, driven by the drive unit, and coupled with the mechanicalparts, physically performs the movements along an axis.


8

♦ Encoder: is the electronic component that supplies the position information for themechanical axis (displacement transducer). It may not be used if the system isdesigned as “open loop” (e.g. with stepper motors).

COMMUNICATION

The Personal Computer can control the (1)Cnc and (2)Plc processes directly, using theBACH support software that enables the operator to: upload/download programs, setupand calibration of the axis parameters, writing/compilation/debugging of the Plc programetc..

CUSTOMISING THE SYSTEM

The @ commands may be used to customise the system by assigning values that differfrom those of the default parameters.♦ For a full description of these commands, refer to the manual supplied with the Picasso

2000 board.


9

INSTALLATION AND CONNECTIONS

UNPACKINGThe Rubens package contains the following components:

CHECKING THE BOARD

Before installing the Rubens controller, check that there are no obvious anomalies. In spite of allthe careful checks performed in the factory, it is possible that they can become damaged duringthe packing or transport. If this is the case, please contact our factory immediately.


10

PRELIMINARY CONFIGURATION

CONFIGUR ATION OF THE PC

Check that the number of the serial port (COM) selected for the communication with thePICASSO2000 board is different from serial ports already present on the PC.In you wish to install the Picasso2000 board on a serial port that is already occupied onthe PC, then it is necessary to disactivate the serial port of the PC in the system BIOS.

COMMUNIC ATION SOFTW ARE

The BACH program is support software created by S&h.It is designed to be installed on a PC running Windows 95/98 operating system.

BACH SOFTW ARE INSTALLATION AND CONF IGURAT IONSee the instructions provided.


11

CONNECTION EXAMPLE

COM24VDC

24VDCSERIALCONNECTION RS232 WITH PC

COM24VDC

24VDC

CONTROLLERPOWER SUPPLY

INPUT-OUTPUTPOWER SUPPLY


12

Connect the Rubens controller to the serial port of the PC (COM1 or COM2) using aPC-PC serial cable and configure the port as indicated in the section “Serial linkconnection”.Power up the controller as indicated in the figure. If the connection is made correctly, the“RUN” indicator on the front of the Rubens will flash for a few seconds and then willbecome fixed.At the same time, the “F1” indicator will light up. Although this is not fitted if the encoderhas external power supply.Power up the controller inputs and outputs as shown in the drawing. If the “F2” indicatorilluminates, the connection is correct.Run the BACH program. Click on the connection key. If the connection is not effectedautomatically, the “Connection” window will appear. Select the Rubens controller and thecommunication port used. Now it will be possible to communicate with the controller.


13

TECHNICAL DATA

POWER SUPPLY VOLTAGES +24VDC

CONSUMPTION 24VDC: 700mA+5VDC ENCODER 400mA

STORAGE TEMPERATURE 0 ..... +50 C°OPERATING TEMPERATURE +5 ... +40 C°RELATIVE HUMIDITY 20% ... 80% (NON-CONDENSING)WEIGHT 2.8 KG

DIMENSIONS

160,0

180,0

110,0

28 0,0

RUBEN

SF1

F3

ANALOGIN ANALOGOUTCAN-BUS8

0V24E-

E+

7 6 5 4 3 2 1

1+ 1-

2-

2+3-

3+4-

4+ 8 7 6 5 4 3 2 1

F2

OUTPUT

FAULT

HOME LIMIT INPUT

1234

EM

ER

GEN

CY

RU

N

E1

23

4F

X1

X2

X3

X5

X6

X8

X9

X11

X12

X19

X20

X18X17X16

X15

X14

1

X4

X7

X10

X13

M

2

0V

24

1 2 3 4

280,0

52,7

52,7

105,4 5,

0

1,5

160,0

180

,0

2 50,0 15,0 15,0

110,0

8 ,0


14

RUBENS PANEL

FUSE VALUE

F1 = 1A(encoder supply)

F2 = 2,5A (+24VDC I/O)

F3 = 0,5A(RUBENS supply)


15

AXIS 4 (W) DRIVER

9

51

6

9-POLE MALE

D-CONNECTOR

X12Pin Signal I/O1 AGND(AN.REF.) -2 FLT (FAULT) I3 PULSE O45 GND_DRV (0V) -6 AO (+VOUT) O7 ENB (ENABLE) O8 DIR O9

AXIS 3 (Z) DRIVER

9

51

6

9-POLE MALE

D-CONNECTOR


AXIS 2 (Y) DRIVER

9

51

6

9-POLE MALE

D-CONNECTOR


AXIS 1 (X) DRIVER

9

51

6

9-POLE MALE

D-CONNECTOR


AXIS 4 (W) ENCODER

6

15

9

9-POLE FEMALE

D-CONNECTOR

X13Pin Signal I/O1 GND_ENC (0V) -2 +VENC (+5V) -3 ZE + I4 FB + I5 FB - I67 ZE - I8 FA - I9 FA + I

AXIS 3 (Z) ENCODER

6

15

9

9-POLE FEMALE

D-CONNECTOR


AXIS 2 (Y) ENCODER

6

15

9

9-POLE FEMALE

D-CONNECTOR


AXIS 1 (X) ENCODER

6

15

9

9-POLE FEMALE

D-CONNECTOR


SERIAL PORT

9

51

6

9-POLE MALE

D-CONNECTOR

X8Pin RS232 RS422

12 RX I RX+ I3 TX O TX+ O45 COM (0V)67 RTS O TX- O8 CTS I RX- I9

ANALOGUE INPUTS

6

15

9

9-POLE FEMALE

D-CONNECTOR

X5Pin Signal I/O

1 COM -2 AIN1 I3 AIN2 I4 AIN3 I5 AIN4 I6 AIN5 I7 AIN6 I8 AIN7 I9 AIN8 I

CAN BUS

9

51

6

9-POLE MALE

D-CONNECTOR

X2Pin Signal12 CAN L3 COM (0V)4567 CAN H89

ANALOGUE OUTPUTS

9

51

6

9-POLE MALE

D-CONNECTOR

X11Pin Signal I/O1 AGND(AN.REF.) -2 OUT1 (PWM) O3 AGND(AN.REF.) -4 AO (+VOUT) O5 GND_AZN (0V) -6 AO (+VOUT) O7 ENB (ENABLE) O8 ENB (ENABLE) O9 OUT2 (PWM) O

CONNECTORS ON THE RUBENS PANEL


16

PROXIMITY

9

51

6

9-POLE MALE

D-CONNECTOR

X1Pin Signal I/O1 0V -2 +5V -3 TAUX I4 TASTD I5 ALED O6789

SERIAL PORT

9

51

6

9-POLE MALE

D-CONNECTOR

X19Pin RS232 RS42212 RX I RX+ I3 TX O TX+ O45 COM (0V)67 RTS O TX- O8 CTS I RX- I9


17

TERMIINALS PIN SIGNAL DESCRIPTION I/O

1 INP1 DIGITAL INPUT NO.1 I2 INP2 DIGITAL INPUT NO.2 I3 INP3 DIGITAL INPUT NO.3 I4 INP4 DIGITAL INPUT NO 4 I5 INP5 DIGITAL INPUT NO.5 I6 INP6 DIGITAL INPUT NO.6 I7 INP7 DIGITAL INPUT NO.7 I

X18

8

1

8 INP8 DIGITAL INPUT NO.8 I

9 LS - LIMIT SWITCH FORWARD(-) AXIS I10 LS + LIMIT SWITCH REVERSE(+) AXIS I11 LS - LIMIT SWITCH FORWARD(-) AXIS I12 LS + LIMIT SWITCH REVERSE(+) AXIS I13 LS - LIMIT SWITCH FORWARD(-) AXIS I14 LS + LIMIT SWITCH REVERSE(+) AXIS I15 LS - LIMIT SWITCH FORWARD(-) AXIS I

X17

8

1

16 LS + LIMIT SWITCH REVERSE(+) AXIS I

17 HOME MACHINE ZERO: AXIS I18 HOME MACHINE ZERO: AXIS I19 HOME MACHINE ZERO: AXIS I

X164

1

20 HOME MACHINE ZERO: AXIS I

21 OUT1 DIGITAL OUTPUT NO.1 O22 OUT2 DIGITAL OUTPUT NO.2 O23 OUT3 DIGITAL OUTPUT NO.3 O24 OUT4 DIGITAL OUTPUT NO.4 O25 OUT5 DIGITAL OUTPUT NO.5 O26 OUT6 DIGITAL OUTPUT NO.6 O27 OUT7 DIGITAL OUTPUT NO.7 O

X15

8

1

28 OUT8 DIGITAL OUTPUT NO.8 O

29 COM_24VDC

0REF. POWER SUPPLY INPUT (0V OF THE

+24VDC)-

30 +24VDC +24VDC POWER SUPPLY INPUT -31 GROUND -32 ENC. - 0REF. ENCODER SUPPLY (0V OF THE

+5/+12VDC)-

X145

1

33 ENC. + +5/+12VDC ENCODER SUPPLY -0V COM_24V

DC

0REF. POWER SUPPLY INPUT (0V OF THE

+24VDC)-

24 +24VDC +24VDC POWER SUPPLY INPUT -GROUND -

-

X20 3

1

-

OUTPUTS: TYPE PNP 24VDC / 300MAINPUTS: TYPE PNP 24VDC

TERMINALS ON THE RUBENS PANEL


18

SERIAL PORT

RS232(a)

Pin Signal I/O12 RX I3 TX O45 COM (0V) -67 RTS O8 CTS I9

SERIAL PORT

9

51

6

9-POLE MALE

D-CONNECTOR


SERIAL PORT

RS422(b)

Pin Signal I/O12 RX+ I3 TX+ O45 COM (0V) -67 TX- O8 RX- I9

SERIAL PORT

RS232(a)

Pin Signal I/O

12 RX I3 TX O45 COM (0V) -67 RTS O8 CTS I9

SERIAL PORT

9

51

6

9-POLE MALE

D-CONNECTOR


SERIAL PORT

RS422(b)

Pin Signal I/O

12 RX+ I3 TX+ O45 COM (0V) -67 TX- O8 RX- I9

SERIAL PORT CONNECTIONS

CONNECTOR: X8, X19

Notes: (a) Factory default configuration ( = RS232 )(b) Supplied when specified

BAUD RATE 9600DATA BIT 8PARITY ODD

STOP BIT 1

N.B.: Use a screened cable for the connection with the screen connected to the case ofthe connector.


19

AXIS 4 (W) ENCODER

6

15

9

9-POLE FEMALE

D-CONNECTOR


AXIS 3 (Z) ENCODER

6

15

9

9-POLE FEMALE

D-CONNECTOR


ENCODER AXIS 2 (Y)

6

15

9

9-POLE FEMALE

D-CONNECTOR


AXIS 1 (X) ENCODER

6

15

9

9-POLE FEMALE

D-CONNECTOR


ENCODER CONNECTIONS

CONNECTOR: X4, X7, X10, X13

Notes: The factory default configuration for the encoder is: “DIFFERENTIAL”

It is strongly advised to use a “DIFFERENTIAL” type of encoder interface, and it isindispensable if the distance to the encoder exceeds 3 metres or if the environment inwhich the system operates is subject to electrical interference of any kind.

Use a screened twisted pair cable for the connection to the encoder. The screen must beisolated and connected to ground only to the casing of the connector at the controller end.Furthermore, the screen connections must be made as close as possible to the connectorcasing.Maximum encoder input frequency for the RUBENS is of 800KHz (with internal RUBENSmultiply we have 800_x_4=3200Khz real counting frequency)

X4, X7, X10, X13Signal pin

FA + 9FA - 8FB + 4FB - 5ZE + 3ZE - 7+VENC 2GND_ENC (0V) 1

CONNECTOR CASE

ENCODER NO. ..

+-

FA

+

-FB

+- ZE

+V0

“MACHINE ZERO” microswitch (HOME)


20

ENCODER SUPPLY

The supply for the encoder can be taken from the RUBENS power supply or supplied froman external power source.

ENCODER SUPPLY: FROM THE RUBENSIn this case, the supply that can be used for the encoder is +5VDC, the maximumcorrent is 100mA.

ENCODER SUPPLY: FROM AN EXTERNAL POWER SUPPLY

In this case the encoder supply must be provided by an independent power supply,external to the PC, and connected to terminals 42 and 43 (X14 –4,5).

29 -30 -31 GROUND -32 ENC. - 0REF. ENCODER SUPPLY (0V OF THE

+5/+12VDC)-X14 5

1

33 ENC. + +5/+12/+24 VDC ENCODER SUPPLY -


21

AXIS 4 (W) DRIVER

9

51

6

9 POLE MALE

D-CONNECTOR

X12Pin Signal I/O1 AGND(AN.REF.) -2 FLT (FAULT) I345 GND_DRV (0V) -6 AO (+VOUT) O7 ENB (ENABLE) O8 DIR O9

AXIS 3 (Z) DRIVER

9

51

6

9 POLE MALE

D-CONNECTOR


AXIS 2 (Y) DRIVER

9

51

6

9 POLE MALE

D-CONNECTOR


AXIS 1 (X) DRIVER

9

51

6

9 POLE MALE

D-CONNECTOR


DRIVE CONNECTIONS (ANALOGUE)

CONNECTORS: X3, X6, X9, X12

Note: The DIR SIGNAL must only be connected if required

Note: The cable screen must be connected to the casing of the controllerNote: If the DRIVER does not have internal pull-up resistors, these must be provided

externally

Analogue output +VOUT is: ±10V / 16 bit resolution.

RUBENS

AGND(AN.REF.)

AO (+VOUT)

DIR

NPN

NPN

ENB (ENABLE)

GND_DRV (0V)

DRIVER

0V

REF-

REF+

+_VDC

DIR

+_VDC

ENABLE

FAULT

NPN

6

1

8

7

5

CONNECTOR CASING

FLT (FAULT) 2

+5VDC


22

AXIS 4 (W) DRIVER

9

51

6

C9-POLE MALE

D-CONNECTOR

X12Pin Signal I/O12 FLT (FAULT) I3 PULSE O45 GND_DRV (0V) -67 ENB (ENABLE) O8 DIR O9

AXIS 3 (Z) DRIVER

9

51

6

9-POLE MALE

D-CONNECTOR


AXIS 2 (Y) DRIVER

9

51

6

9-POLE MALE

D-CONNECTOR


AXIS 1 (X) DRIVER

9

51

6

9-POLE MALE

D-CONNECTOR


DRIVER CONNECTIONS (FREQUENCY)

CONNECTORS: X3, X6, X9, X12

Note: The cable screen must be connected to the casing of the controllerNote: If the DRIVER does not have internal pull-up resistors, these must be provided

externallyNote: Frequency output Pulse is maximum 800KHz with 50% duty-cycle

RUBENS

NPN

ENB (ENABLE)

GND_DRV (0V)

DRIVER

0V

+_VDC

ENABLE

FLT (FAULT) FAULT

NPN

7

2

5

PULSE

NPN

+_VDC

PULSE3

DIR

NPN

+_VDC

DIR8

CONNECTOR CASE

+5VDC


23

DIGITAL INPUT CONNECTIONS

TERMINALS: X18, X17, X16, X14

EXAMPLE OF A DIGITAL INPUT CONNECTION

RUBENS INPUT

+24VDC(+12VDC ….+35VDC)

3K3

PNP

TERMINALS PIN SIGNAL DESCRIPTION I/O

1 INP1 DIGITAL INPUT NO. 1 I2 INP2 DIGITAL INPUT NO. 2 I3 INP3 DIGITAL INPUT NO. 3 I4 INP4 DIGITAL INPUT NO. 4 I5 INP5 DIGITAL INPUT NO. 5 I6 INP6 DIGITAL INPUT NO. 6 I7 INP7 DIGITAL INPUT NO. 7 I

X18

8

1

8 INP8 DIGITAL INPUT NO. 8 I

9 LS - LIMIT SWITCH FORWARD (-) AXIS I10 LS + LIMIT SWITCH REVERSE (+) AXIS I11 LS - LIMIT SWITCH FORWARD (-) AXIS I12 LS + LIMIT SWITCH REVERSE (+) AXIS I13 LS - LIMIT SWITCH FORWARD (-) AXIS I14 LS + LIMIT SWITCH REVERSE (+) AXIS I15 LS - LIMIT SWITCH FORWARD (-) AXIS I

X17

8

1

16 LS + LIMIT SWITCH REVERSE (+) AXIS I

17 HOME MACHINE ZERO : AXIS I18 HOME MACHINE ZERO: AXIS I19 HOME MACHINE ZERO: AXIS I

X164

1

20 HOME MACHINE ZERO: AXIS I

29 COM_24VDC

0REF. SUPPLY INPUT (0V DEL +24VDC) -

30 +24VDC +24VDC SUPPLY INPUT -31 GROUND -32

X145

1

33

INPUT: TYPE PNP 24VDC


24

RUBENS IMAGE OF INPUTS 31….0

IMAGE OF INPUTS 31…0Bit /Input

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

Bit Input Description Connector / pin

00 INP1 DIGITAL INPUT NO.1 X18 – 101 INP2 DIGITAL INPUT NO.2 X18 – 202 INP3 DIGITAL INPUT NO.3 X18 – 303 INP4 DIGITAL INPUT NO.4 X18 – 404 INP5 DIGITAL INPUT NO.5 X18 – 505 INP6 DIGITAL INPUT NO.6 X18 – 606 INP7 DIGITAL INPUT NO.7 X18 – 707 INP8 DIGITAL INPUT NO.8 X18 – 8

08 Ls - LIMIT SWITCH FORWARD (-) X17 – 909 LS + LIMIT SWITCH REVERSE (+)

AXISX17 – 10

10 LS - LIMIT SWITCH FORWARD (-) X17 – 1111 LS + LIMIT SWITCH REVERSE (+)

AXISX17 – 12


AXISX17 – 14


AXISX17 – 16

16 HOME MACHINE ZERO AXIS X16 – 1717 HOME MACHINE ZERO AXIS X16 – 1818 HOME MACHINE ZERO AXIS X16 – 1919 HOME MACHINE ZERO AXIS X16 – 2020 FLT FAULT INPUT DRIVER X3 – 221 FLT FAULT INPUT DRIVER X6 – 222 FLT FAULT INPUT DRIVER X9 – 223 FLT FAULT INPUT DRIVER X12 – 2

2425262728293031

Note: To read the inputs from the CNC program, use the instructions : G66 P0…P23 G65 P0…P23 G69 P0…P23


25

DIGITAL OUTPUT CONNECTIONS

TERMINALS: X15

EXAMPLE OF AN OUTPUT CONNECTION

RUBENS OUTPUT

PNP

+24VDC(+12VDC ….+35VDC)

LOAD =< 300mA

TERMINALS PIN SIGNAL DESCRIPTION I/O

21 OUT1 DIGITAL OUTPUT NO.1 O22 OUT2 DIGITAL OUTPUT NO.2 O23 OUT3 DIGITAL OUTPUT NO.3 O24 OUT4 DIGITAL OUTPUT NO.4 O25 OUT5 DIGITAL OUTPUT NO.5 O26 OUT6 DIGITAL OUTPUT NO.6 O27 OUT7 DIGITAL OUTPUT NO.7 O

X15

8

1

28 OUT8 DIGITAL OUTPUT NO.8 O

29 COM_24VDC

0REF. SUPPLY INPUT (0V DEL +24VDC) -

30 +24VDC +24VDC SUPPLY INPUT -31 GROUND -32

X145

1

33

OUTPUTS: TYPE PNP 24VDC / 300MA


26

RUBENS IMAGE OF THE OUTPUTS 31….0

IMAGE OF THE OUTPUTS 31…0Bit /input

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

Bit Output Description Connector / pin

00 OUT1 DIGITAL OUTPUT NO. 1 X15 – 2101 OUT2 DIGITAL OUTPUT NO. 2 X15 – 2202 OUT3 DIGITAL OUTPUT NO. 3 X15 – 2303 OUT4 DIGITAL OUTPUT NO. 4 X15 – 2404 OUT5 DIGITAL OUTPUT NO. 5 X15 – 2505 OUT6 DIGITAL OUTPUT NO. 6 X15 – 2606 OUT7 DIGITAL OUTPUT NO. 7 X15 – 2707 OUT8 DIGITAL OUTPUT NO. 8 X15 – 28

08 DIR DIRECTION OUTPUT X3 – 709 ENB ENABLE OUTPUT

DRIVERX3 – 8


DRIVERX6 – 8


DRIVERX9 – 8


DRIVERX12 – 8

16 ENB ENABLE OUTPUT DRIVER X11 – 717 ENB ENABLE OUTPUT DRIVER X11 – 8181920212223

2425262728293031

Note: To write the outputs from the CNC program use the instructions : G67 P0…P7 G68 P0…P7


27

ANALOGUE INPUTS

6

15

9

9-POLE FEMALE

D-CONNECTOR

X5Pin Signal I/O

1 COM -2 AIN1 I3 AIN2 I4 AIN3 I5 AIN4 I6 AIN5 I7 AIN6 I8 AIN7 I9 AIN8 I

ANALOGUE INPUT CONNECTIONS

CONNECTOR: X5

EXAMPLE OF AN ANALOGUE INPUT CONNECTION

RUBENS ANALOGUE INPUTS

+12VDC

AINA/D

COM1

10K -10V…+10V

+ / - 10V

-12VDC


28

ANALOGUE OUTPUTS

9

51

6

9-POLE MALE

D-CONNECTOR

X11Pin Signal I/O

1 AGND(AN.REF.) -2 OUT1 (PWM) O3 AGND(AN.REF.) -4 AO (+VOUT) O5 GND_DRV (0V) -6 AO (+VOUT) O7 ENB (ENABLE) O8 ENB (ENABLE) O9 OUT2 (PWM) O

ANALOGUE OUTPUT CONNECTIONS

CONNECTOR: X11

RUBENS

AGND(AN.REF.)

AO (+VOUT)

NPN

NPN

ENB (ENABLE)

GND AZN (0V)

DRIVER

0V

REF-

REF+

+_VDC

+_VDC

ENABLE

6

1

8

7

5

CONNECTOR CASE

AGND(AN.REF.)

AO (+VOUT)

REF-

REF+4

3

ENB (ENABLE) ENABLE


29

PROXIMITY

9

51

6

9-POLE MALE

D-CONNECTOR

X1Pin Segnale I/O

1 0V -2 +5V -3 TAUX I4 TASTD I5 ALED O6789

CONNECTION OF THE PROXIMITY SWITCH

ALED

0

TASTD

+5V

+5V

.

.

.

.

.

.

470

10N

10K

X1-4

X1-1

X1-5

PROXIMITYCONTACT

LED

PROXIMITYSWITCHPROXIMITY SWITCH INPUT

RUBENS


30

CAN-BUS CONNECTION

CNC

RE

MO

TE

I/O M

OD

ULE

REMOTE I/O MODULE

REMOTE I/O MODULE

The termination resistances (120Ω) are placed at the beginning, in the connector to theCNC, and the end of the cable (see figure).The devices connected in intermediate positions do not require a termination resistance.

Belden type 3082A or equivalent cable is recommended.

The screen must be connected to the casing of the connector.

INSTALLATION RECOMMENDATIONS

1. The network units must be connected in cascade.2. Avoid completely any star or tree topography for the connections ( see the following

figure).

MASTER

NODE

NODE

NODE

NODE

MASTER

NODE

NODE

NODE

NODE

PERMITTEDCONFIGURATION

FORBIDDEN CONFIGURATION

CAN Network Configuration

3. Use the same type of cable for the whole installation (screened, twisted pair

Documents

RUBENS - CNC - sterowanie · PDF fileRUBENS 1.00 Refers to software version:: ... • Serial port ... PC-PC serial cable and configure the port as indicated in the section “Serial